The 30-year-old Queensland man was taken into custody in Footscray on Monday by officers from the anti-bikie Echo Taskforce and Fugitive Taskforce.

It's alleged Shannon Leslie Proctor took a Toyota Prado from Beechworth Road about 11am on Saturday.

A girl had been inside the vehicle, but she wasn't driven from the scene of the incident.

Police did not reveal further details of the alleged offence.

Detective Sergeant Graeme Simpfendorfer said it was a concerning incident and it was positive to make a quick arrest.

"This incident would have been very terrifying for the family and young girl in the car," he said.

"It's quite disturbing to see these things happen on the Border especially with everything else that's going on.

"It's not believed he drove any distance with the girl in the car.

"It's positive to get a quick result and have him in custody."

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He said the girl was "safe and well" after the incident.

The incident would have been worrying for those involved, Detective Sergeant Simpfendorfer said.

"Very frightening for the family and young girl in the car," he said.

It's believed the man has bikie links and was wanted in Queensland for similar offending, but has some ties to the Border area.

Proctor is also wanted in NSW.

He did not apply for bail in the Melbourne Magistrates Court following his arrest.

The four-wheel-drive and keys were recovered by police.

A photograph of the seized car shows it appeared to have been found outside a residential address.

Police were not seeking anyone else over the alleged incident.

"We don't expect to make any more arrests," Detective Sergeant Simpfendorfer said.

Court staff on Tuesday confirmed Proctor had been charged with various offences.

The charges include carjacking, theft of motor vehicle and unlicensed driving.

The most serious charges will have to be heard in the higher county court.

The 30-year-old will return to the Melbourne Magistrates Court on October 7 for committal mention.